Method, device and equipment for regulating motor driving current and storage medium

Abstract

The application provides a motor driving current adjusting method, device, equipment and storage medium, and relates to the technical field of motor control. The method comprises the following steps: obtaining a target load power parameter of a motor driving system and a reference load power parameter of the motor driving system at a first current amplitude; according to the target load power parameter and the reference load power parameter, a preset power closed-loop control algorithm is used to calculate a second current amplitude; and the motor driving system is controlled to adjust the amplitude of the driving current output to a target motor from the first current amplitude to the second current amplitude. By using the motor driving current adjusting method provided in the application, the second current amplitude can be calculated in real time when the load changes, and the driving current amplitude of the motor is adjusted according to the second current amplitude, so that the energy saving and efficiency increasing of the motor driving system are realized.

Description

Technical Field

[0001] This application relates to the field of control technology, and more specifically, to a method, apparatus, device, and storage medium for regulating motor drive current. Background Technology

[0002] Typically, in motor drive systems, to prevent abnormal motor operation due to excessive load, the motor drive current amplitude is set according to the maximum load capacity of the motor. However, under conditions of very low load, this control scheme with a constant drive current amplitude will result in large no-load losses, leading to low efficiency of the motor drive system.

[0003] Therefore, there is an urgent need for an automatic adjustment scheme that enables the motor drive system to adjust the motor drive current amplitude in a timely manner according to the changes in load size when the motor is working, thereby achieving energy saving and efficiency improvement of the motor drive system. Summary of the Invention

[0004] The purpose of this application is to provide a method, apparatus, device, and storage medium for adjusting motor drive current, in order to address the shortcomings of the prior art and solve the problems existing in the prior art.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a method for adjusting the drive current of a motor, comprising:

[0007] Obtain the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system at the first current amplitude;

[0008] Based on the target load power parameters and the reference load power parameters, a preset power closed-loop control algorithm is used to calculate the second current amplitude.

[0009] The motor drive system is controlled to adjust the amplitude of the drive current output to the target motor from the first current amplitude to the second current amplitude.

[0010] In one embodiment, obtaining the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system at the first current amplitude includes:

[0011] The target load power parameters are calculated based on the total power of the motor drive system, the maximum heat loss of the motor drive system in energy-saving mode, and the preset friction loss of the target motor operating in a preset mechanical state.

[0012] The reference load power parameters are calculated based on the total power of the motor drive system, the heat loss of the motor drive system at the first current amplitude, and the preset friction loss.

[0013] In one embodiment, before calculating the target load power parameters based on the total power of the motor drive system, the maximum heat loss of the motor drive system in energy-saving mode, and the preset friction loss of the target motor corresponding to the motor drive system operating in a preset mechanical state, the method further includes:

[0014] The maximum heat loss is calculated based on the preset maximum current amplitude, energy saving coefficient, and equivalent resistance of the motor drive system.

[0015] The preset friction loss is calculated based on the fixed mechanical angular velocity of the target motor under the preset mechanical state and the friction torque of the motor drive system.

[0016] In one embodiment, before calculating the reference load power parameters based on the total power of the motor drive system, the heat loss of the motor drive system at the first current amplitude, and the preset friction loss, the method further includes:

[0017] Calculate the heat loss of the motor drive system at the first current amplitude based on the first current amplitude and the equivalent resistance of the motor drive system.

[0018] In one embodiment, before calculating the maximum heat loss based on the preset maximum current amplitude, energy-saving coefficient, and the equivalent resistance of the motor drive system, the method further includes:

[0019] The first total power of the motor drive system at a first preset current amplitude is obtained when the target motor is running unloaded at a preset mechanical angular velocity.

[0020] The second total power of the motor drive system at a second preset current amplitude is obtained when the target motor is running unloaded at the preset mechanical angular velocity.

[0021] The equivalent resistance is calculated based on the first total power, the second total power, the first preset current amplitude, and the second preset current amplitude.

[0022] In one embodiment, before calculating the preset friction loss based on the fixed mechanical angular velocity of the target motor under the preset mechanical state and the friction torque of the motor drive system, the method further includes:

[0023] The third total power of the motor drive system at a preset current amplitude is obtained when the target motor is running unloaded at a first mechanical angular velocity.

[0024] The fourth total power of the motor drive system at the preset current amplitude is obtained when the target motor is running unloaded at the second mechanical angular velocity.

[0025] The friction torque is calculated based on the third total power, the fourth total power, the first mechanical angular velocity, and the second mechanical angular velocity.

[0026] In one embodiment, the step of calculating the second current amplitude using a preset power closed-loop control algorithm based on the target load power parameters and the reference load power parameters includes:

[0027] Calculate the power difference based on the target load power parameters and the reference load power parameters;

[0028] Based on the power difference, the second current amplitude is calculated using the preset power closed-loop control algorithm.

[0029] Secondly, embodiments of this application provide a motor drive current regulating device, comprising:

[0030] The acquisition module is used to acquire the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system under the first current amplitude.

[0031] The calculation module is used to calculate the second current amplitude based on the target load power parameters and the reference load power parameters, using a preset power closed-loop control algorithm.

[0032] The adjustment module is used to control the motor drive system to adjust the amplitude of the drive current output to the target motor from the first current amplitude to the second current amplitude.

[0033] Thirdly, embodiments of this application provide a computer device, including: a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the computer device is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the motor drive current regulation method as described in the above embodiments.

[0034] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the motor drive current regulation method as described in the above embodiments.

[0035] The beneficial effects of this application are as follows: This application provides a method for adjusting the drive current of a motor, including obtaining the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system under a first current amplitude; calculating the second current amplitude based on the target load power parameters and the reference load power parameters using a preset power closed-loop control algorithm; and controlling the motor drive system to adjust the amplitude of the drive current output to the target motor from the first current amplitude to the second current amplitude.

[0036] The motor drive current regulation method provided in this application can use a preset power closed-loop control algorithm to calculate the second current amplitude in real time when the load changes, and adjust the amplitude of the drive current of the target motor to the second current amplitude. This realizes timely adjustment of the motor drive current amplitude according to the change of load size, thereby achieving energy saving and efficiency improvement of the motor drive system. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is one of the flowcharts illustrating a method for adjusting the motor drive current according to an embodiment of this application;

[0039] Figure 2 This is a second schematic flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application.

[0040] Figure 3 This is a third schematic flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application.

[0041] Figure 4 This is a fourth schematic flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application.

[0042] Figure 5 Fifth of a flowchart illustrating a method for adjusting motor drive current according to an embodiment of this application;

[0043] Figure 6 This is a sixth schematic flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application.

[0044] Figure 7 This is the seventh flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application.

[0045] Figure 8 A schematic diagram of the structure of a motor drive current regulating device provided in an embodiment of this application;

[0046] Figure 9 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0048] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0049] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0050] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0051] Currently, motor drive systems all use open-loop control schemes to drive the motor. In order to prevent the motor from malfunctioning due to excessive load, the drive current amplitude of the open-loop control scheme is generally set according to the maximum load that the motor can bear. This means that under light load conditions, this open-loop control scheme with constant current amplitude will bring large no-load losses, resulting in low efficiency of the motor drive system.

[0052] For example, in many application areas such as car rearview mirror control, car headlight control, printers and ATMs, the motors operate under light load conditions most of the time. This open-loop control scheme with constant current amplitude not only increases system energy consumption, but also causes the motor to heat up and reduces its durability.

[0053] Therefore, this application provides a method, apparatus, device, and storage medium for adjusting motor drive current, which can solve the problems existing in the prior art. It should be noted that the method can be executed by any computer device that integrates a preset motor drive current adjustment method. The computer device can be connected to the motor drive system through a controller to adjust the amplitude of the motor drive current. The computer device can be, for example, a terminal-facing computer device or a back-end server.

[0054] Before describing the method of this embodiment, the motor drive system will first be described in conjunction with formulas (1)-(7).

[0055] Taking a two-phase motor as an example, under a given motor angle θ, the phase current of the motor is as shown in equations (1)-(2):

[0056] I a =I m ×sinθ (1)

[0057] I b =I m ×cosθ (2)

[0058] Among them, I a and I b These are the a-phase and b-phase currents of the motor, I. m The phase current amplitude of the motor is fixed at the current value required for the maximum load that the motor can bear in the existing method. The phase current amplitude is not adjusted during motor operation, which will cause excessive no-load loss of the motor drive system under light load.

[0059] In the motor drive system, a drive circuit consisting of two H-bridges drives the motor, and the voltage of the drive circuit is denoted as U. dc The current is denoted as I. dc Then the total power P1 of the motor drive system can be calculated by equation (3).

[0060] P1 = U dc ×I dc (3)

[0061] When the motor drive system is running, the total power of the motor drive system can also be determined by the resistive heat loss P0 and the frictional loss P of the motor drive system. B and the power P of the load driven by the motor. L The total power P1 of the motor drive system can also be obtained from equation (4), where the resistance heat loss P0 can be obtained from equation (5), and the friction loss P B It can be obtained from equation (6), where R is the equivalent resistance of the motor drive system, and TB W represents the frictional torque of the motor drive system. m This refers to the mechanical angular velocity of the motor drive system.

[0062] In a motor drive system, R and T B As an inherent property of motor drive systems, R and T change when the load magnitude changes. B The values ​​are fixed, and R and T B They do not affect each other, which means that during the operation of the motor, the load power P can be determined according to formula (7). L Perform real-time estimation.

[0063] P1 = P0 + P B +P L (4)

[0064] P0 = R × I m 2 (5)

[0065] P B =W m ×T B (6)

[0066] P L =P1-P0-P B (7)

[0067] The method for adjusting the motor drive current provided in this application will be illustrated below with specific examples based on the above formula and in conjunction with the accompanying drawings.

[0068] Figure 1 This is one of the flowcharts illustrating a method for adjusting the motor drive current according to an embodiment of this application. Figure 1 As shown, the method includes S101-S103:

[0069] S101. Obtain the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system under the first current amplitude.

[0070] During motor operation, the computer equipment can calculate and obtain the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system under the first current amplitude in real time. Thus, the load can be determined in real time whether it has changed by using the target load power and reference load power parameters.

[0071] In this embodiment, the first current amplitude I mThe current amplitude of the target motor at the current time is used. The reference load power parameter at the first current amplitude is the estimated load power at the current time. The target load power parameter is a pre-constructed reference value used to compare with the reference load power parameter at the first current amplitude to determine the changing trend of the reference load power parameter of the target motor.

[0072] S102. Based on the target load power parameters and the reference load power parameters, the second current amplitude is calculated using a preset power closed-loop control algorithm.

[0073] When the target motor starts running, the initial value of the first current amplitude is the maximum current amplitude I of the motor. max That is, when the target motor starts running, the amplitude of the current in the target motor's drive circuit, the target motor itself, and the load driven by the target motor is I. max Based on the target load power parameters and the reference load power parameters, a preset power closed-loop control algorithm can be used to calculate the second current amplitude I in real time. m ′ The second current amplitude is a given current amplitude value that can adapt to the current load size. It can be understood that when the load changes, if the first current amplitude is adjusted to the second current amplitude, the output power of the motor drive system can be better matched with the actual load power.

[0074] Specifically, during the real-time calculation of the second current amplitude, when the load remains unchanged, the second current amplitude I... m ′ With the first current amplitude I m Equal, when the load changes, the second current amplitude I m ′ The change in current is positively correlated with the change in load; that is, as the load increases, the amplitude of the second current I increases. m ′ As the load increases, the amplitude of the second current I decreases. m ′ Decrease, regarding the second current amplitude I m ′ For a detailed description of the calculation method, please refer to S601-S602.

[0075] S103. The control motor drive system adjusts the amplitude of the drive current output to the target motor from the first current amplitude to the second current amplitude.

[0076] When the second current amplitude I is calculated m ′ Then, through a proportional-integral-derivative (PID) controller, the motor drive system is controlled to adjust the amplitude of the drive current output to the target motor from the first current amplitude I. mAdjust to the second current amplitude I m ′ That is, the amplitude of the current in the drive circuit of the target motor, the target motor, and the load driven by the target motor is adjusted from the first current amplitude to the second current amplitude, and the actual output power of the motor after adjustment is matched with the current load size. Specifically, according to equation (3), when the voltage of the drive circuit remains unchanged, when the load decreases, the second current amplitude I is adjusted. m ′ Set to less than the first current amplitude I m If the value is changed, the actual output power of the motor will decrease, and the motor output power will be more matched with the actual power of the current load, thus avoiding no-load losses of the motor; when the load increases, the second current amplitude I will be adjusted. m ′ Set to be greater than the first current amplitude I m If the value is higher, the actual output power of the motor will increase, and the output power of the motor will be more matched with the actual power of the current load, which can avoid abnormal motor operation due to excessive load.

[0077] In summary, the motor drive current adjustment method provided in this embodiment can use a preset power closed-loop control algorithm. When the load changes, the second current amplitude is calculated in real time according to the relationship between the load power value and the second current amplitude, and the amplitude of the drive current of the target motor is adjusted to the second current amplitude. This realizes timely adjustment of the motor drive current amplitude according to the change of load size, thereby achieving energy saving and efficiency improvement of the motor drive system.

[0078] An embodiment of this application also provides a possible method for obtaining target load power parameters and reference load power parameters.

[0079] Figure 2 This is a second schematic flowchart of a method for adjusting the motor drive current according to an embodiment of this application, as shown below. Figure 2 As shown, in step S101, obtaining the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system under the first current amplitude may include:

[0080] S201. Calculate the target load power parameters based on the total power of the motor drive system, the maximum heat loss of the motor drive system in energy-saving mode, and the preset friction loss of the target motor operating in preset mechanical state.

[0081] From equation (7), it can be seen that the load power P L It can be calculated from the total power of the motor drive system, the resistance heat loss, and the friction loss.

[0082] In this embodiment, the target load power parameters are known to be pre-constructed reference values. Therefore, the parameters can be determined by the total power P1 of the motor drive system, the maximum heat loss of the motor drive system in energy-saving mode, and the preset friction loss P of the target motor operating in a preset mechanical state. B The target load power parameter P is obtained through equation (8). L fdb Among them, R(I) max ×k) 2 This indicates the maximum heat loss of the motor drive system when it is in energy-saving mode.

[0083] P L fdb =P1-R(I max ×k) 2 -P B (8)

[0084] S202. Calculate the reference load power parameters based on the total power of the motor drive system, the heat loss of the motor drive system under the first current amplitude, and the preset friction loss.

[0085] After obtaining the target load power parameters, it is also possible to use equation (9) to determine the total power P1 of the motor drive system, the heat loss of the motor drive system under the first current amplitude, and the preset friction loss P. B Calculate the reference load power parameter P L ref Among them, R×I m 2 This refers to the heat loss of the motor drive system under the first current amplitude, which can be determined before step S202 based on the first current amplitude I. m The equivalent resistance R of the motor drive system is calculated.

[0086] P L ref =P1-R×I m 2 -P B (9)

[0087] Figure 3 This is the third flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application. Figure 3 As shown, before step S201, the maximum heat loss and the preset friction loss can be calculated by S301-S302.

[0088] S301. Calculate the maximum heat loss based on the preset maximum current amplitude, energy saving coefficient, and equivalent resistance of the motor drive system.

[0089] As can be seen from the above embodiments, in this application, the target load power parameter is a pre-constructed reference value used to compare with the reference load power parameter, and the target load power parameter is calculated from the total power of the motor drive system, the maximum resistance heat loss, and the preset friction loss.

[0090] In this embodiment, the maximum heat loss is defined as R(I) max ×k) 2 , among which, I max R represents the maximum current amplitude that the motor drive system can provide to the motor, R refers to the equivalent resistance of the motor drive system, and k is the energy-saving coefficient. The range of k is 0 < k < 1. The smaller the value of k, the better the energy-saving effect of the motor drive system. However, in order to cope with the sudden increase or decrease of system load power and other operating conditions, a certain amount of no-load current needs to be reserved to ensure the dynamic performance of the system. In this embodiment, in order to adapt to most application scenarios, the value of k is taken as 0.5, that is, the value of k in equation (8) is 0.5. Before step S201, the maximum heat loss can be calculated in advance as R(I max ×0.5) 2 For methods to calculate the equivalent resistance R, please refer to S401-S403.

[0091] S302. Calculate the preset friction loss based on the fixed mechanical angular velocity of the target motor under the preset mechanical state and the friction torque of the motor drive system.

[0092] From equation (6), it can be seen that the friction loss P B The friction loss can be calculated from the mechanical angular velocity and friction torque of the motor drive system. Therefore, before step S201, the preset friction loss can be calculated in advance based on the fixed mechanical angular velocity of the target motor in the preset mechanical state and the friction torque of the motor drive system. The specific method for calculating the friction torque can be found in S501-S503.

[0093] One embodiment of this application also provides a possible implementation for calculating the equivalent resistance of a motor drive system. Figure 4 This is the fourth flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application. Figure 4 As shown, the equivalent resistance of the motor drive system can be calculated based on S401-S403.

[0094] Since the equivalent resistance R of the motor drive system is a fixed value, the power P1 = U of the motor drive system can be obtained before the target motor starts running, based on the law of conservation of power and equations (3) and (4). dc ×I dc =P0+P B +P LThe equivalent resistance R of the target motor is calculated offline. Specifically, the target motor is run unloaded at a preset mechanical angular velocity. According to S401, the first total power of the motor drive system at a first preset current amplitude is obtained when the target motor is running unloaded at the preset mechanical angular velocity. According to S402, the second total power of the motor drive system at a second preset current amplitude is obtained when the target motor is running unloaded at the preset mechanical angular velocity. According to S403, the equivalent resistance R is calculated.

[0095] S401. Obtain the first total power of the motor drive system at the first preset current amplitude when the target motor is running unloaded at a preset mechanical angular velocity.

[0096] The target motor is run under no-load at a preset mechanical angular velocity, and a first preset current amplitude I is given. m1 The first total power P is obtained according to equation (10). 11 .

[0097] P 11 =U dc1 ×I dc1 =R×I m1 2 +P B (10)

[0098] S402. Obtain the second total power of the motor drive system at the second preset current amplitude when the target motor is running unloaded at a preset mechanical angular velocity.

[0099] The target motor is run under no-load at the same preset mechanical angular velocity as in S401, and a second preset current amplitude I is given. m2 The second total power P is obtained according to equation (11). 12 .

[0100] P 12 =U dc2 ×I dc2 =R×I m2 2 +P B (11)

[0101] S403. Calculate the equivalent resistance based on the first total power, the second total power, the first preset current amplitude, and the second preset current amplitude.

[0102] Because in S401 and S402, the motor operates under no-load at the same mechanical angular velocity, with two different current amplitudes I... m1 and I m2 Under the same conditions, the friction loss of the motor drive system is the same. Subtracting formula (10) and formula (11) yields formula (12). The equivalent resistance R of the system can be calculated using formula (12) as shown in formula (13).

[0103] U dc1 ×I dc1 -U dc2 ×I dc2 =(I m1 2 -I m2 2 )×R (12)

[0104]

[0105] One embodiment of this application also provides a possible implementation for calculating the frictional torque of a motor drive system. Figure 5 This is the fifth flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application. Figure 5 As shown, the friction torque of the motor drive system can be calculated based on S501-S503.

[0106] Due to the frictional torque T of the motor drive system B If the value is a fixed value, then before the target motor runs, the power of the motor drive system P1 = U can be determined. dc ×I dc =P0+P B +P L The frictional torque T of the target motor was calculated offline. B The specific method is as follows: Let the target motor operate under no-load at a preset current amplitude; according to S501, obtain the third total power of the target motor operating under no-load at the first mechanical angular velocity; according to S502, obtain the third total power of the target motor operating under no-load at the second mechanical angular velocity; according to S503, calculate the friction torque T. B .

[0107] S501. Obtain the third total power of the motor drive system under the preset current amplitude when the target motor is running unloaded at the first mechanical angular velocity.

[0108] The target motor is run under no-load at a preset current amplitude, and a first mechanical angular velocity W is given. m1 The third total power P is obtained according to equation (14). 13 .

[0109] P 13 =U dc3 ×I dc3 =P0+W m1 ×T B (14)

[0110] S502. Obtain the fourth total power of the motor drive system at a preset current amplitude when the target motor is running unloaded at the second mechanical angular velocity.

[0111] The target motor is run under no-load at the same preset current amplitude as in S501, and a second mechanical angular velocity W is given. m2 The fourth total power P is obtained according to equation (15). 14 .

[0112] P 14 =U dc4 ×I dc4 =P0+W m2 ×T B (15)

[0113] S503. Calculate the friction torque based on the third total power, the fourth total power, the first mechanical angular velocity, and the second mechanical angular velocity.

[0114] Because in S501 and S502, the motor operates under no-load conditions with the same current amplitude, but at two different mechanical angular velocities W... m1 and W m2 Under the same conditions, the resistive heat loss of the motor drive system is the same. Subtracting formula (14) and formula (15) yields formula (16). The frictional torque T of the system can be calculated using formula (16). B As shown in formula (17).

[0115] U dc3 ×I dc3 -U dc4 ×I dc4 =(W m1 -W m2 )×T B (16)

[0116]

[0117] Figure 6 This is a schematic flowchart of a method for adjusting the motor drive current according to an embodiment of this application, as shown in Figure 6. Figure 6 As shown, based on any of the above embodiments, the second current amplitude is calculated using a preset power closed-loop control algorithm according to the target load power parameters and the reference load power parameters. This may include:

[0118] S601. Calculate the power difference based on the target load power parameters and the reference load power parameters.

[0119] When the target load power parameter P is obtained L fdb and reference load power parameter P L ref Then, the power difference e can be calculated according to equation (18).

[0120] e = P L ref -PL fdb (18)

[0121] It can be seen that when the reference load power parameter is less than the target load power parameter, e is negative, indicating that the system load begins to decrease; when the reference load power parameter is greater than the target load power parameter, e is positive, indicating that the system load begins to increase; when e is 0, it indicates that the system load has not changed.

[0122] S602. Based on the power difference, the second current amplitude is calculated using a preset power closed-loop control algorithm.

[0123] After obtaining the power difference e, the second current amplitude I is calculated according to the power closed-loop control algorithm shown in equation (19). m ′ .

[0124]

[0125] Where kp is the proportional gain, ki is the integral gain, and kd is the differential gain, all of which are fixed constants. When e is negative, the second current amplitude I obtained by equation (19) is... m ′ Less than the first current amplitude I m The motor drive current is reduced by a proportional-integral-derivative controller; when e is positive, the second current amplitude I obtained by equation (19) is... m ′ Greater than the first current amplitude I m The motor drive current is increased by controlling the proportional-integral-derivative controller.

[0126] It should be noted that Equation (19) is only one way to calculate the second current amplitude, and does not mean that the second current amplitude can only be calculated according to Equation (19). For example, in actual operation, any one or more of the proportional gain kp, integral gain ki, and differential gain kd can be selected to form the calculation formula for the second current amplitude, and the second current amplitude can be calculated by the formula.

[0127] Figure 7 This is the seventh flowchart illustrating a method for adjusting the motor drive current according to an embodiment of this application. Figure 7 As shown, the complete steps of the motor drive current adjustment method provided in this application include S701-S708:

[0128] S701. Calculate the equivalent resistance based on the first total power, the second total power, the first preset current amplitude, and the second preset current amplitude.

[0129] S702. Calculate the maximum heat loss based on the preset maximum current amplitude, energy saving coefficient, and equivalent resistance of the motor drive system.

[0130] S703. Calculate the friction torque based on the third total power, the fourth total power, the first mechanical angular velocity, and the second mechanical angular velocity.

[0131] S704. Calculate the preset friction loss based on the fixed mechanical angular velocity of the target motor under the preset mechanical state and the friction torque of the motor drive system.

[0132] S705. Calculate the target load power parameters based on the total power of the motor drive system, the maximum heat loss of the motor drive system in energy-saving mode, and the preset friction loss of the target motor operating in preset mechanical state.

[0133] S706. Calculate the reference load power parameters based on the total power of the motor drive system, the heat loss of the motor drive system under the first current amplitude, and the preset friction loss.

[0134] S707. Based on the target load power parameters and the reference load power parameters, a preset power closed-loop control algorithm is used to calculate the second current amplitude.

[0135] S708, The control motor drive system adjusts the amplitude of the drive current output to the target motor from the first current amplitude to the second current amplitude.

[0136] In specific implementation, the motor drive current adjustment method provided in this application can be implemented according to steps S701-S708. The specific implementation methods of S701-S708 have been described in the above embodiments and will not be repeated here.

[0137] The following will continue to explain the apparatus, device, and storage medium for implementing the motor drive current adjustment method provided in any of the above embodiments of this application. The specific implementation process and the resulting technical effects are the same as those in the corresponding method embodiments. For the sake of brevity, the parts not mentioned in the following embodiments can be referred to the corresponding content in the method embodiments.

[0138] Figure 8 This is a schematic diagram of the structure of a motor drive current regulating device provided in an embodiment of this application, as shown below. Figure 8 As shown, the motor drive current regulating device provided in this application includes:

[0139] The acquisition module 801 is used to acquire the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system under the first current amplitude.

[0140] The calculation module 802 is used to calculate the second current amplitude based on the target load power parameters and the reference load power parameters, using a preset power closed-loop control algorithm.

[0141] The adjustment module 803 is used to control the motor drive system to adjust the amplitude of the drive current output to the target motor from a first current amplitude to a second current amplitude.

[0142] In one embodiment, the acquisition module 801 is further configured to calculate the target load power parameters based on the total power of the motor drive system, the maximum heat loss of the motor drive system in energy-saving state, and the preset friction loss of the target motor operating in a preset mechanical state; and to calculate the reference load power parameters based on the total power of the motor drive system, the heat loss of the motor drive system at the first current amplitude, and the preset friction loss.

[0143] In one embodiment, the calculation module 802 is further configured to calculate the maximum heat loss based on the preset maximum current amplitude, energy saving coefficient and the equivalent resistance of the motor drive system; and to calculate the preset friction loss based on the fixed mechanical angular velocity of the target motor under the preset mechanical state and the friction torque of the motor drive system.

[0144] In one embodiment, the calculation module 802 is further configured to calculate the heat loss of the motor drive system under the first current amplitude based on the first current amplitude and the equivalent resistance of the motor drive system.

[0145] In one embodiment, the acquisition module 801 is further configured to acquire the first total power of the motor drive system at a first preset current amplitude when the target motor is running unloaded at a preset mechanical angular velocity; and to acquire the second total power of the motor drive system at a second preset current amplitude when the target motor is running unloaded at the preset mechanical angular velocity.

[0146] The calculation module 802 is further configured to calculate the equivalent resistance based on the first total power, the second total power, the first preset current amplitude, and the second preset current amplitude.

[0147] In one embodiment, the acquisition module 801 is further configured to acquire the third total power of the motor drive system at a preset current amplitude when the target motor is running unloaded at a first mechanical angular velocity; and to acquire the fourth total power of the motor drive system at the preset current amplitude when the target motor is running unloaded at a second mechanical angular velocity.

[0148] The calculation module 802 is further configured to calculate the friction torque based on the third total power, the fourth total power, the first mechanical angular velocity, and the second mechanical angular velocity.

[0149] In one embodiment, the calculation module 802 is further configured to calculate a power difference based on the target load power parameters and the reference load power parameters; and to calculate the second current amplitude based on the power difference using the preset power closed-loop control algorithm.

[0150] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0151] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0152] Figure 9 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application, as shown below. Figure 8 As shown, the computer device includes a processor 901, a storage medium 902, and a bus 903. The storage medium stores program instructions that can be executed by the processor. When the computer device is running, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to perform the steps of the motor drive current regulation method provided in the above embodiments.

[0153] In one embodiment, this application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the steps of the motor drive current regulation method provided in the above embodiments.

[0154] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0155] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0156] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0157] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0158] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for adjusting the drive current of a motor, characterized in that, include: Obtain the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system at the first current amplitude; Based on the target load power parameters and the reference load power parameters, a preset power closed-loop control algorithm is used to calculate the second current amplitude. The motor drive system is controlled to adjust the amplitude of the drive current output to the target motor from the first current amplitude to the second current amplitude; The acquisition of the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system at the first current amplitude includes: The target load power parameters are calculated based on the total power of the motor drive system, the maximum heat loss of the motor drive system in energy-saving mode, and the preset friction loss of the target motor operating in a preset mechanical state. The reference load power parameters are calculated based on the total power of the motor drive system, the heat loss of the motor drive system at the first current amplitude, and the preset friction loss. The step of calculating the second current amplitude based on the target load power parameters and the reference load power parameters, using a preset power closed-loop control algorithm, includes: Calculate the power difference based on the target load power parameters and the reference load power parameters; Based on the power difference, the second current amplitude is calculated using the preset power closed-loop control algorithm.

2. The method according to claim 1, characterized in that, Before calculating the target load power parameters based on the total power of the motor drive system, the maximum heat loss of the motor drive system in energy-saving mode, and the preset friction loss of the target motor corresponding to the motor drive system operating in a preset mechanical state, the method further includes: The maximum heat loss is calculated based on the preset maximum current amplitude, energy saving coefficient, and equivalent resistance of the motor drive system. The preset friction loss is calculated based on the fixed mechanical angular velocity of the target motor under the preset mechanical state and the friction torque of the motor drive system.

3. The method according to claim 1, characterized in that, Before calculating the reference load power parameters based on the total power of the motor drive system, the heat loss of the motor drive system at the first current amplitude, and the preset friction loss, the method further includes: Calculate the heat loss of the motor drive system at the first current amplitude based on the first current amplitude and the equivalent resistance of the motor drive system.

4. The method according to claim 2, characterized in that, Before calculating the maximum heat loss based on the preset maximum current amplitude, energy-saving coefficient, and the equivalent resistance of the motor drive system, the method further includes: The first total power of the motor drive system at a first preset current amplitude is obtained when the target motor is running unloaded at a preset mechanical angular velocity. The second total power of the motor drive system at a second preset current amplitude is obtained when the target motor is running unloaded at the preset mechanical angular velocity. The equivalent resistance is calculated based on the first total power, the second total power, the first preset current amplitude, and the second preset current amplitude.

5. The method according to claim 2, characterized in that, Before calculating the preset friction loss based on the fixed mechanical angular velocity of the target motor under the preset mechanical state and the friction torque of the motor drive system, the method further includes: The third total power of the motor drive system at a preset current amplitude is obtained when the target motor is running unloaded at a first mechanical angular velocity. The fourth total power of the motor drive system at the preset current amplitude is obtained when the target motor is running unloaded at the second mechanical angular velocity. The friction torque is calculated based on the third total power, the fourth total power, the first mechanical angular velocity, and the second mechanical angular velocity.

6. A device for regulating the driving current of a motor, characterized in that, include: The acquisition module is used to acquire the target load power parameters of the motor drive system and the reference load power parameters of the motor drive system under the first current amplitude. The calculation module is used to calculate the second current amplitude based on the target load power parameters and the reference load power parameters, using a preset power closed-loop control algorithm. An adjustment module is used to control the motor drive system to adjust the amplitude of the drive current output to the target motor from the first current amplitude to the second current amplitude; The acquisition module is further configured to calculate the target load power parameters based on the total power of the motor drive system, the maximum heat loss of the motor drive system in energy-saving state, and the preset friction loss of the target motor operating in a preset mechanical state. The reference load power parameters are calculated based on the total power of the motor drive system, the heat loss of the motor drive system at the first current amplitude, and the preset friction loss. The calculation module is further configured to calculate the power difference based on the target load power parameters and the reference load power parameters; and to calculate the second current amplitude based on the power difference using the preset power closed-loop control algorithm.

7. A computer device, characterized in that, include: The device includes a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the computer device is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the motor drive current adjustment method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, performs the steps of the motor drive current adjustment method as described in any one of claims 1 to 5.

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